Control and scale model simulation of sensor-guided LHD mining machines

The development of autonomous (telemanaged) LHD (load, haul, and dump) mining machines is discussed. Previous work has shown that ultrasonic sensors exhibit several characteristics which make them a reasonable choice for sensor-based navigation in underground mining operations. Work done to (1) develop control algorithms for use with these sensors, (2) experiment with a scale model of an LHD to verify the ultrasonic-based control and modeling methods, and (3) develop real-time task level control models is discussed.<
>